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/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file reboot.c
* Tool similar to UNIX reboot command
*/
#include <nuttx/config.h>
#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <fcntl.h>
#include <errno.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#include <drivers/drv_led.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_tone_alarm.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_baro.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/rc_check.h>
__EXPORT int preflight_check_main(int argc, char *argv[]);
static int led_toggle(int leds, int led);
static int led_on(int leds, int led);
static int led_off(int leds, int led);
int preflight_check_main(int argc, char *argv[])
{
bool fail_on_error = false;
if (argc > 1 && !strcmp(argv[1], "--help")) {
warnx("usage: preflight_check [--fail-on-error]\n\tif fail on error is enabled, will return 1 on error");
exit(1);
}
if (argc > 1 && !strcmp(argv[1], "--fail-on-error")) {
fail_on_error = true;
}
bool system_ok = true;
int fd;
/* open text message output path */
int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
int ret;
/* give the system some time to sample the sensors in the background */
usleep(150000);
/* ---- MAG ---- */
close(fd);
fd = open(MAG_DEVICE_PATH, 0);
if (fd < 0) {
warn("failed to open magnetometer - start with 'hmc5883 start' or 'lsm303d start'");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: NO MAG");
system_ok = false;
goto system_eval;
}
ret = ioctl(fd, MAGIOCSELFTEST, 0);
if (ret != OK) {
warnx("magnetometer calibration missing or bad - calibrate magnetometer first");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CHECK/CAL");
system_ok = false;
goto system_eval;
}
/* ---- ACCEL ---- */
close(fd);
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
ret = ioctl(fd, ACCELIOCSELFTEST, 0);
if (ret != OK) {
warnx("accel self test failed");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL CHECK/CAL");
system_ok = false;
goto system_eval;
}
/* check measurement result range */
struct accel_report acc;
ret = read(fd, &acc, sizeof(acc));
if (ret == sizeof(acc)) {
/* evaluate values */
if (sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z) > 30.0f /* m/s^2 */) {
warnx("accel with spurious values");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: |ACCEL| > 30 m/s^2");
/* this is frickin' fatal */
fail_on_error = true;
system_ok = false;
goto system_eval;
}
} else {
warnx("accel read failed");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL READ");
/* this is frickin' fatal */
fail_on_error = true;
system_ok = false;
goto system_eval;
}
/* ---- GYRO ---- */
close(fd);
fd = open(GYRO_DEVICE_PATH, 0);
ret = ioctl(fd, GYROIOCSELFTEST, 0);
if (ret != OK) {
warnx("gyro self test failed");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CHECK/CAL");
system_ok = false;
goto system_eval;
}
/* ---- BARO ---- */
close(fd);
fd = open(BARO_DEVICE_PATH, 0);
close(fd);
/* ---- RC CALIBRATION ---- */
bool rc_ok = (OK == rc_calibration_check(mavlink_fd));
/* warn */
if (!rc_ok)
warnx("rc calibration test failed");
/* require RC ok to keep system_ok */
system_ok &= rc_ok;
system_eval:
if (system_ok) {
/* all good, exit silently */
exit(0);
} else {
fflush(stdout);
warnx("PREFLIGHT CHECK ERROR! TRIGGERING ALARM");
fflush(stderr);
int buzzer = open(TONEALARM_DEVICE_PATH, O_WRONLY);
int leds = open(LED_DEVICE_PATH, 0);
if (leds < 0) {
close(buzzer);
errx(1, "failed to open leds, aborting");
}
/* flip blue led into alternating amber */
led_off(leds, LED_BLUE);
led_off(leds, LED_AMBER);
led_toggle(leds, LED_BLUE);
/* display and sound error */
for (int i = 0; i < 14; i++)
{
led_toggle(leds, LED_BLUE);
led_toggle(leds, LED_AMBER);
if (i % 10 == 0) {
ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEUTRAL_TUNE);
} else if (i % 5 == 0) {
ioctl(buzzer, TONE_SET_ALARM, TONE_ERROR_TUNE);
}
usleep(100000);
}
/* stop alarm */
ioctl(buzzer, TONE_SET_ALARM, TONE_STOP_TUNE);
/* switch off leds */
led_on(leds, LED_BLUE);
led_on(leds, LED_AMBER);
close(leds);
if (fail_on_error) {
/* exit with error message */
exit(1);
} else {
/* do not emit an error code to make sure system still boots */
exit(0);
}
}
}
static int led_toggle(int leds, int led)
{
static int last_blue = LED_ON;
static int last_amber = LED_ON;
if (led == LED_BLUE) last_blue = (last_blue == LED_ON) ? LED_OFF : LED_ON;
if (led == LED_AMBER) last_amber = (last_amber == LED_ON) ? LED_OFF : LED_ON;
return ioctl(leds, ((led == LED_BLUE) ? last_blue : last_amber), led);
}
static int led_off(int leds, int led)
{
return ioctl(leds, LED_OFF, led);
}
static int led_on(int leds, int led)
{
return ioctl(leds, LED_ON, led);
}
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